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\title{Parallel Robotic Platform for MRI-Guided Needle Placement}
\author{Xiaon Yan \and Aaron Fineman \and Kamal Shah \and Gregory Salvati}

\begin{document}
\maketitle

\section*{Completed}
\begin{itemize}
	\item Workspace defined
	\item Solidworks model/assembly created
	\item Parts sent to rapid prototype machine
	\item Parts ordered
\end{itemize}


We defined the workspace, and then designed a platform according to our results. Our workspace has been defined based on approximation of the prostate as a 50mm sphere. The platform's workspace is a truncated cone which encompasses the 50mm sphere. All parts of the robot have been modeled and assembled in CAD (see Figure 1). The rods have been ordered through McMaster-Carr, and the bearings have been ordered from INGUS Inc. The servro controller board is from Neuron Robotics, and will control 4 Faulhaber. The remaining components have been submitted to the rapid prototyping machine. The control and simulation software will be written in Matlab, and take an X,Y,Z point, output the motor positions, and then drive the motors to the required positions. The simulation will also show the path that the platform is taking in real time.

\section*{Todo/Timeline}
\begin{itemize}
	\item Kinematic Analysis - Sunday March 27
	\item Inverse Kinematic Analysis - Sunday March 27
	\item Parts Manufactured - Wednesday March 30
	\item Prototype Assembled - Saturday April 2
	\item Simulation - Sunday April 3
	\item Control software - Sunday April 3
	\item debugging - Sunday April 10
	\item Final Report - Sunday April 17 through Sunday April 24
\end{itemize}

\begin{figure}[ht]
	\centering
	\includegraphics[scale=0.6]{MRI-compatible Modular Robotic System.JPG}
	\caption{Solidworks Assembly}
\end{figure}

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